CN216803468U - A feeding agencies for chip - Google Patents
A feeding agencies for chip Download PDFInfo
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- CN216803468U CN216803468U CN202220114817.1U CN202220114817U CN216803468U CN 216803468 U CN216803468 U CN 216803468U CN 202220114817 U CN202220114817 U CN 202220114817U CN 216803468 U CN216803468 U CN 216803468U
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Abstract
A material taking mechanism for chips comprises a six-axis robot, wherein an installation plate is fixedly installed at the output end of the six-axis robot, a force control clamping jaw mechanism is connected below the installation plate, two clamping jaws are movably connected to the side surface of the force control clamping jaw mechanism, a telescopic cylinder is fixedly connected to the side surface of the installation plate, and a telescopic end of the telescopic cylinder is connected with a vacuum chuck; the mounting plate is provided with a mounting rod, the lower end of the mounting rod is connected with a first connecting rod and a second connecting rod, the end part of the first connecting rod is connected with one end of a vision camera connecting rod through a vertical adapter, and the other end of the vision camera connecting rod is connected with a vision camera through a mounting seat; the other end of the second connecting rod is connected with a laser positioning connecting rod through a vertical adapter, and a laser positioning mechanism is installed on the laser positioning connecting rod. The utility model overcomes the defects of the prior art, and has higher precision and more convenient debugging. The force control clamping jaw mechanism can flexibly open and screw the cover, and the damage to the cover is reduced.
Description
Technical Field
The utility model relates to the technical field of chip pickup, in particular to a material taking mechanism for chips.
Background
The end effector can be used as a whole, is simple and convenient, can easily realize whole quick change, and can be compatible with chips of various models and specifications. The chip cannot be damaged during the pick-up process. And the lid opening mechanism cannot cause damage to the lid.
The existing chip positioning mode in the current market is complex to operate and is not beneficial to debugging. The chip is not stable enough or even damaged in the process of picking up the chip, and the chip is not well matched with a visual camera stroke, so that the precision can not meet the requirement. The above problems can directly cause the chip test failure and the chip scrap, which can cause great loss. In addition, the cover opening mechanism is not flexible enough, and the cover is easy to damage.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects of the prior art, the utility model provides the material taking mechanism for the chip, which overcomes the defects of the prior art, and has the advantages of reasonable design, stronger function, higher precision and more convenient debugging. The force control clamping jaw mechanism can flexibly open and screw the cover, and the damage to the cover is reduced.
In order to achieve the purpose, the utility model is realized by the following technical scheme:
a material taking mechanism for chips comprises a six-axis robot, wherein an output end of the six-axis robot is fixedly provided with a mounting plate, a force control clamping jaw mechanism is fixedly connected below the mounting plate through a connecting rod, two clamping jaws are movably connected to the side surface of the force control clamping jaw mechanism, the center points of the two clamping jaws correspond to the axis of an output shaft of the six-axis robot, a telescopic cylinder is fixedly connected to the side surface of the mounting plate, and the telescopic end of the telescopic cylinder is fixedly connected with a vacuum chuck through a connecting plate;
the mounting plate is provided with a mounting rod, the lower end of the mounting rod penetrates through the mounting plate and is respectively connected with a first connecting rod and a second connecting rod through horizontal connectors, the end part of the first connecting rod is connected with one end of a vision camera connecting rod through a vertical connector, and the other end of the vision camera connecting rod is connected with a vision camera through a mounting seat; the other end of the second connecting rod is connected with a laser positioning connecting rod through a vertical adapter, and a laser positioning mechanism is installed on the laser positioning connecting rod.
Preferably, be connected with the light source board connecting rod through vertical adaptor on the head rod, fixed mounting has the light source board on the light source board connecting rod.
Preferably, the mounting plate upper surface fixed mounting has the mount pad, the opening hole has been seted up in the middle of the mount pad, the installation pole passes the opening hole and follows opening hole axial displacement, the open end side surface of opening hole is provided with the locking hole.
The utility model provides a material taking mechanism for chips. The method has the following beneficial effects: compared with the prior art, the function is stronger, and the precision is higher, and the debugging is more convenient. The force control clamping jaw mechanism can flexibly open and screw the cover, and the damage to the cover is reduced. The cross laser positioning mechanism not only can assist manpower to improve debugging efficiency, but also can assist a vision camera to improve detection precision.
Drawings
In order to more clearly illustrate the present invention or the prior art solutions, the drawings that are needed in the description of the prior art will be briefly described below.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a portion of the present invention;
FIG. 3 is a schematic structural view of a force-controlled jaw mechanism of the present invention;
FIG. 4 is a schematic view of a connection structure of a vision camera and a laser positioning mechanism in the present invention;
the reference numbers in the figures illustrate:
1. a six-axis robot; 2. mounting a plate; 3. a connecting rod; 4. a force-controlled jaw mechanism; 5. a clamping jaw; 7. mounting a rod; 8. a first connecting rod; 9. a second connecting rod; 10. a vision camera connection bar; 11. a vision camera; 12. a laser positioning mechanism; 13. a telescopic cylinder; 14. a vacuum chuck; 15. a light source plate connecting rod; 16. a light source plate; 17. a mounting seat; 18. an open pore; 19. a locking hole; 20. laser location connecting rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings.
In the first embodiment, as shown in fig. 1 to 4, a material taking mechanism for chips comprises a six-axis robot 1, wherein an output end of the six-axis robot 1 is fixedly provided with a mounting plate 2, a force control clamping jaw mechanism 4 is fixedly connected below the mounting plate 2 through a connecting rod 3, two clamping jaws 5 are movably connected to the side surface of the force control clamping jaw mechanism 4, the central points of the two clamping jaws 5 correspond to the axis of an output shaft of the six-axis robot 1, the side surface of the mounting plate 2 is fixedly connected with a telescopic cylinder 13, and the telescopic end of the telescopic cylinder 13 is fixedly connected with a vacuum chuck 14 through a connecting plate;
the mounting plate 2 is provided with a mounting rod 7, the lower end of the mounting rod 7 penetrates through the mounting plate 2 and is respectively connected with a first connecting rod 8 and a second connecting rod 9 through horizontal connectors, the end part of the first connecting rod 8 is connected with one end of a visual camera connecting rod 10 through a vertical connector, and the other end of the visual camera connecting rod 10 is connected with a visual camera 11 through a mounting seat; the other end of the second connecting rod 9 is connected with a laser positioning connecting rod 20 through a vertical adapter, and a laser positioning mechanism 12 is installed on the laser positioning connecting rod 20.
The working principle is as follows:
when the device is used, the whole material taking mechanism is driven to move to a position to be taken by the six-axis robot 1, manual quick positioning is assisted by the laser positioning mechanism 12 to improve debugging efficiency, the direction and the position of a chip are identified by the vision camera 11, the control system controls the six-axis robot 1 to adjust a corresponding angle according to transmission data of the vision camera 11, the vacuum chuck 14 is driven to move downwards at the telescopic end of the telescopic cylinder 13 to suck the chip and move to a chip testing base, the testing base cover can be flexibly clamped by the two clamping jaws 5 of the force-control clamping jaw mechanism 4, the central points of the two clamping jaws 5 correspond to the axis of an output shaft of the six-axis robot 1, the testing base cover can be rotatably opened by controlling the rotation of the output shaft of the six-axis robot 1, the chip is placed, and then the testing base cover by the two clamping jaws 5 of the force-control clamping jaw mechanism 4 again to test the chip . Compared with the prior art, the multifunctional electric vehicle is stronger in function, higher in precision and more convenient to debug. The force control clamping jaw mechanism 4 can flexibly open and screw the cover, and the damage to the cover is reduced. The cross laser positioning mechanism 12 can not only assist the manual work to improve the debugging efficiency, but also assist the vision camera 11 to improve the detection precision.
In the second embodiment, as a further preferable scheme of the first embodiment, the first connecting rod 8 is connected with a light source board connecting rod 15 through a vertical adaptor, and a light source board 16 is fixedly mounted on the light source board connecting rod 15. The light can be irradiated on the chip to be sucked through the light source plate 16 to improve the data acquisition effect of the vision camera 11 better.
In a third embodiment, as a further preferable scheme of the first embodiment, an installation seat 17 is fixedly installed on the upper surface of the installation plate 2, an opening hole 18 is formed in the middle of the installation seat 17, the installation rod 7 penetrates through the opening hole 18 and moves along the axial direction of the opening hole 18, and a locking hole 19 is formed in the side surface of the opening end of the opening hole 18. Therefore, when the installation is carried out, the installation rod 7 can be inserted into the opening hole 18 of the installation seat 17 from bottom to top, the position of the installation rod 7 is adjusted in the vertical height and then is connected into the locking hole 19 through the locking pin, so that the locking effect of the opening hole 18 is realized, and then the installation rod 7 can be clamped and fixed in the opening hole 18.
The above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (3)
1. The utility model provides a feeding agencies for chip which characterized in that: the device comprises a six-axis robot (1), wherein a mounting plate (2) is fixedly mounted at the output end of the six-axis robot (1), a force control clamping jaw mechanism (4) is fixedly connected below the mounting plate (2) through a connecting rod (3), two clamping jaws (5) are movably connected to the side surface of the force control clamping jaw mechanism (4), the central points of the two clamping jaws (5) correspond to the axis of an output shaft of the six-axis robot (1), a telescopic cylinder (13) is fixedly connected to the side surface of the mounting plate (2), and a vacuum chuck (14) is fixedly connected to the telescopic end of the telescopic cylinder (13) through a connecting plate;
the mounting plate (2) is provided with a mounting rod (7), the lower end of the mounting rod (7) penetrates through the mounting plate (2) and is respectively connected with one end of a first connecting rod (8) and one end of a second connecting rod (9) through horizontal connectors, the other end of the first connecting rod (8) is connected with one end of a visual camera connecting rod (10) through a vertical connector, and the other end of the visual camera connecting rod (10) is connected with a visual camera (11) through a mounting seat; the other end of the second connecting rod (9) is connected with a laser positioning connecting rod (20) through a vertical adapter, and a laser positioning mechanism (12) is installed on the laser positioning connecting rod (20).
2. The pick mechanism for chips of claim 1, wherein: the light source board connecting rod (15) is connected to the first connecting rod (8) through a vertical adapter, and a light source board (16) is fixedly mounted on the light source board connecting rod (15).
3. The chip pick-up mechanism as claimed in claim 1, wherein: fixed surface installs mount pad (17) on mounting panel (2), open pore (18) have been seted up in the middle of mount pad (17), installation pole (7) pass open pore (18) and follow open pore (18) axial displacement, the open end side surface of open pore (18) is provided with locking hole (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220114817.1U CN216803468U (en) | 2022-01-17 | 2022-01-17 | A feeding agencies for chip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220114817.1U CN216803468U (en) | 2022-01-17 | 2022-01-17 | A feeding agencies for chip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216803468U true CN216803468U (en) | 2022-06-24 |
Family
ID=82063723
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220114817.1U Active CN216803468U (en) | 2022-01-17 | 2022-01-17 | A feeding agencies for chip |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216803468U (en) |
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2022
- 2022-01-17 CN CN202220114817.1U patent/CN216803468U/en active Active
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